Granted Patent B2

US 12,413,682 · App. 18/019,417 · Granted Sep 9, 2025

Inventors: Nils Frielinghaus (Heimstetten, DE); Markus Neff (Ottobrunn, DE)

Assignee: Brainlab SE

H04N5/265G06T7/20G06V10/761G06T2207/10056G06T2207/10068G06T2207/10132G06V2201/07

Abstract

Claims (76)

1. A computer-implemented method of generating an overlay of medical video data and overlay data, comprising:

acquiring, from a medical video modality, the medical video data comprising at least a first video frame and a second video frame of different points in time, t 1 and t 2 ;

analysing the acquired medical video data comprising a comparison of the video data captured by the first and the second video frames;

providing initial overlay data;

generating modified overlay data by adapting the initial overlay data based on a result of the analysis of the medical video data; and

generating the overlay by generating a video output comprising at least medical video data originating from the medical video modality and including the generated modified overlay data

determining from the first video frame an augmentation model;

determining from the first video frame at least one landmark of said augmentation model;

automatically identifying the determined at least one landmark in the second video frame while reading out the second video frame;

adapting at least one parameter of the augmentation model based on a result of the landmark identification in the second video frame, thereby generating the modified overlay data;

wherein the step of generating the overlay includes:

generating the video output comprising the second video frame and the adapted augmentation model; and

wherein the landmark identification and the adaption of the at least one parameter of the augmentation model are carried out simultaneously, i.e. within the same video frame, with the generation of the overlay.

2. The method of claim 1 ,

wherein the generated overlay is a real time overlay characterized in that it has a latency in time compared to the medical video data of below one video frame, below five lines of a video frame, below two lines of a video frame, below one line of a video frame, below twenty pixels of a video frame, below ten pixels of a video frame, below eight pixels of a video frame, below five pixels of a video frame, or below four pixels of a video frame.

3. The method of claim 1 ,

wherein the initial overlay data is an augmentation model, and

wherein the generation of the modified overlay data includes at least one of applying a spatial shift to the augmentation model, applying a distortion to the augmentation model, newly rendering the augmentation model, adapting parameters of the augmentation model, replacing the augmentation model by another augmentation model, and any combination thereof.

4. The method of claim 1 further including:

calculating an influence of a motion between an imaging device of the medical video modality and the imaged object and compensating for said calculated influence when generating the modified overlay data.

5. The method of claim 1 ,

wherein the comparison of the video data captured by the first and the second video frames is embodied as automatically determining a landmark of an augmentation model in the first video frame and as searching and finding the determined landmark in the second video frame.

6. The method of claim 1 ;

wherein the generation of the overlay is carried out simultaneously.

7. The method of claim 1 ,

wherein the step of landmark identification comprises:

evaluating whether a particular landmark determined in the first video frame is present in the second video frame within a pre-defined maximum number of video frame pixels thereby using a line-wise video frame read-out; and

wherein no overlay is generated if said particular landmark is not present in the second video frame within the maximum number of video frame pixels.

8. The method of claim 1 , further comprising:

determining a spatial drift of an object imaged by the medical video modality by analysing at least two video frames of the video modality from points in time before the second video frame was captured, and

deciding, based on the determined spatial drift, whether a landmark is accepted to be used in the method and/or whether the overlay is generated.

9. The method of claim 1 further comprising:

automatically identifying a particular instrument in the first video frame; and

acquiring an augmentation model of said identified particular instrument from a database thereby providing the initial overlay data.

10. The method of claim 1 ,

wherein the step of analysing the acquired medical video data comprises determining a change in the medical video data over time by comparing the first and second video frame and further comprising:

acquiring, from the medical video modality, at least a third video frame of a third point in time t 3 ;

wherein the step of generating the modified overlay data includes:

using the determined change in the video data of the first and second video frames over time in a calculation of an extrapolation of the initial overlay data to the point in time; and

wherein the generation of the overlay includes:

generating the video output including the third video frame and the initial overlay data that were extrapolated to the third point in time t 3 .

11. The method of claim 10 ;

wherein the following relation holds true: t 1 <t 2 <t 3 ; and

wherein the third video frame directly follows the second video frame in a video stream of the medical video modality.

12. The method of claim 10 :

wherein the determined change over time in the first and second video frames is a spatial shift of an object imaged in the video frames.

13. A non-transitory computer readable media comprising instructions which, when executed by one or more processors, causes the one or more processors to:

acquire, from a medical video modality, the medical video data comprising at least a first video frame and a second video frame of different points in time, t 1 and t 2 ;

analyse the acquired medical video data comprising a comparison of the video data captured by the first and the second video frames;

provide initial overlay data;

generate modified overlay data by adapting the initial overlay data based on a result of the analysis of the medical video data; and

generate the overlay by generating a video output comprising at least medical video data originating from the medical video modality and including the generated modified overlay data

determining from the first video frame an augmentation model;

determining from the first video frame at least one landmark of said augmentation model;

automatically identifying the determined at least one landmark in the second video frame while reading out the second video frame;

adapting at least one parameter of the augmentation model based on a result of the landmark identification in the second video frame, thereby generating the modified overlay data;

wherein the step of generating the overlay includes:

generating the video output comprising the second video frame and the adapted augmentation model; and

wherein the landmark identification and the adaption of the at least one parameter of the augmentation model are carried out simultaneously, i.e. within the same video frame, with the generation of the overlay.

14. A medical video modality system comprising:

at least one processor and associated memory having instructions which when executed cause the at least one processor to:

acquire, from a medical video modality, the medical video data comprising at least a first video frame and a second video frame of different points in time, t 1 and t 2 ;

analyse the acquired medical video data comprising a comparison of the video data captured by the first and the second video frames;

provide initial overlay data;

generate modified overlay data by adapting the initial overlay data based on a result of the analysis of the medical video data; and

generate the overlay by generating a video output comprising at least medical video data originating from the medical video modality and including the generated modified overlay data

an imaging device for generating the medical video data;

determining from the first video frame an augmentation model;

determining from the first video frame at least one landmark of said augmentation model;

automatically identifying the determined at least one landmark in the second video frame while reading out the second video frame;

adapting at least one parameter of the augmentation model based on a result of the landmark identification in the second video frame, thereby generating the modified overlay data;

wherein the step of generating the overlay includes:

generating the video output comprising the second video frame and the adapted augmentation model, and

wherein the landmark identification and the adaption of the at least one parameter of the augmentation model are carried out simultaneously, i.e. within the same video frame, with the generation of the overlay.

15. The medical video modality system of claim 14 ,

wherein the imaging device is an endoscope, an ultrasonic device, a microscope, or any combination thereof.

Assignments (2)

Continuity (1)

References Cited (27)